JPH074135Y2 - Manipulator for glass electrodes - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION "Industrial application field" The present invention relates to a manipulator such as a glass electrode for remotely moving pipettes such as a glass electrode for treating cells in the fields of basic medicine and bionics. .

"Prior Art" As a conventional manipulator of this kind, Japanese Patent Laid-Open No.
-265283 hydraulic type is known.
The manipulator comprises a drive unit and a moving unit.
The drive unit slides laterally or vertically according to the tilting direction and the tilting amount when one operation lever is tilted X.
It has an axial slider and a Y-axis slider, and each piston presses the diaphragm of the X-axis hydraulic cylinder and the diaphragm of the Y-axis hydraulic cylinder according to the moving distance of the X-axis slider and the Y-axis slider. Further, if the knobs dedicated to the horizontal direction, the vertical direction, and the height direction are turned on the drive unit, the pistons press the diaphragms of the X-axis hydraulic cylinder, the Y-axis hydraulic cylinder, and the Z-axis hydraulic cylinder, respectively. There is. On the other hand, the moving unit includes an X-axis moving mechanism, a Y-axis moving mechanism, and a Z-axis moving mechanism for moving the glass electrode or the like in the horizontal direction, the vertical direction, and the height direction. , Y-axis moving mechanism, and Z-axis moving mechanism,
The glass electrodes, etc. are respectively placed in the horizontal direction (X-axis direction) and the vertical direction (Y
They are attached to each other so as to be movable in the axial direction) and in the height direction (Z-axis direction). The X-axis moving mechanism, the Y-axis moving mechanism, and the Z-axis moving mechanism have an X-axis hydraulic cylinder, a Y-axis hydraulic cylinder, and a Z-axis hydraulic cylinder, respectively. And the Z-axis hydraulic cylinders correspond to the corresponding X-axis hydraulic cylinders, Y of the drive unit.
It is connected to the axial hydraulic cylinder and the Z axial hydraulic cylinder by pressure resistant tubes. Then, if the operation lever is tilted and the knobs are turned to change the pressure applied to the X-axis hydraulic cylinder, the Y-axis hydraulic cylinder, and the Z-axis hydraulic cylinder of the drive unit, the X-axis of the moving unit can be changed. It is transmitted to the hydraulic cylinder, the Y-axis hydraulic cylinder and the Z-axis hydraulic cylinder, and the glass electrode etc. is transferred to the X-axis.
The axis moving mechanism, the Y-axis moving mechanism, and the Z-axis moving mechanism can freely move in the horizontal, vertical, and height directions (X-axis, Y-axis, and Z-axis directions). The X-axis hydraulic cylinder, the Y-axis hydraulic cylinder, and the Z-axis hydraulic cylinder of the drive unit and the moving unit are the same,
It can be applied to any part of the driving part and the moving part without any distinction.

"Problems to be solved by the invention" However, the X-axis hydraulic cylinder of the drive unit and the moving unit, Y
A paraffin-type oil is filled between the axial hydraulic cylinder and the Z-axis hydraulic cylinder, and the driving portion pressurizes the moving portion to move the glass electrode and the like in units of micron. Due to the large rate, when the ambient temperature changes, the thermal expansion of the oil causes the volume of the oil to change and the moving part, that is, the glass electrode, etc., carelessly, despite no operation of the drive part. This has been a cause of problems such as drifting and destruction of cells and the like.

Therefore, in view of the above circumstances, the present invention can drastically reduce so-called drift such as the glass electrode and the like being inadvertently moved even when the ambient temperature is changed, and the scale for instructing the operation amount of the drive unit is more precise than in the past. It is possible to move the glass electrode etc. with high accuracy and smoothness.
It is an object of the present invention to provide a manipulator such as a glass electrode which is very convenient to use.

[Means to be Solved by the Invention] In order to achieve the above object, the present invention provides a drive unit on a remote operation side having a hydraulic cylinder provided with a diaphragm that is pressed by a piston, and a hydraulic pressure in the drive unit. It consists of a cylinder and a moving part equipped with a hydraulic cylinder connected by a tube, and a glass electrode, etc. that interlocks the glass electrode with a piston that is pressed against the diaphragm of the moving part by the pressure change in the hydraulic cylinder of the drive part. In the manipulator of the above, the moving part has a base having a hydraulic cylinder connected to the tip thereof, a slider slidably arranged between the base and the base via a linear motion bearing, and a slider of the above slider. It consists of a piston connected to the tip and a diaphragm that is pressed against the piston, and the hydraulic cylinder of the moving part is larger than the hydraulic cylinder of the drive part. And it is characterized in manipulator such as glass electrodes formed to the product.

"Operation" In the present invention, the cross-sectional area of the hydraulic cylinder of the moving part is larger than that of the hydraulic cylinder of the drive part even if the ambient atmospheric temperature changes. Even if the liquids sealed between them expand thermally due to changes in the ambient temperature, the glass electrodes, etc. corresponding to the ratio of the cross-sectional area of the hydraulic cylinder of the moving part to the cross-sectional area of the hydraulic cylinder of the driving part. Unnecessary movement can be drastically reduced, and the operating amount of the drive unit is larger than the moving amount of the glass electrode, etc. according to the ratio of the above-mentioned cross-sectional area. Therefore, the glass electrode or the like can be moved more accurately and smoothly.

[Example] An example of a manipulator such as a glass electrode according to the present invention will be described below with reference to the drawings. The drive unit shown in FIGS. 1 to 3 is the same as that of the already known Japanese Patent Laid-Open No. 61-265283. First, the drive unit 1 will be described. As shown in FIGS. 1 and 2, the drive unit 1 includes an XY axis in-plane drive mechanism 2, a Z axis drive mechanism 3, an X axis linear drive mechanism 4, and a Y axis linear drive mechanism 5. . X-
The Y-axis in-plane driving mechanism 2 fixes the fixed base 7 to the base 6 with screws as shown in FIG. 1, and further, as shown in FIGS. 1 and 2, the Y-axis slider 8 is vertically attached to the fixed base 7. That is, the Y-axis slider is slidably mounted, and the Y-axis slider 8 is slidably mounted in the lateral direction, that is, the X-axis direction. An L-shaped bracket 10 is provided on one end surface of the fixed base 7.
The Y-axis linear drive mechanism 5 is attached via. The Y-axis linear drive mechanism 5 includes a main body 11 screwed to the bracket 10, a knob 12 screwed to the main body 11, and a knob 12
It consists of a piston 13 which is pressed by turning.
On the other hand, on one end surface of the Y-axis slider 9 in the sliding direction, a Y-axis hydraulic cylinder 15 is screwed with a U-shaped bracket 14 in association with a piston 13 of the Y-axis linear drive mechanism 5 as described later. Install with. The X-axis linear drive mechanism 4 is attached to the Y-axis slider 8 via an L-shaped bracket 17. The X-axis linear drive mechanism 4 has the same configuration as the Y-axis linear drive mechanism 5,
It is composed of a main body 18 screwed to the bracket 17, a knob 19 screwed to the main body 18, and a piston 20 which is pressed by turning the knob 19. An X-axis hydraulic cylinder 22 is screwed to one end surface of the X-axis slider 9 in the sliding direction through a bracket 21 having a U-shape in cooperation with a piston 20 of the X-axis linear drive mechanism 4 as described later. . On the upper surface of the X-axis slider 9, a small-diameter sphere 24 is erected on a pin 23. The small diameter sphere 24 is slidably fitted into the receiving hole 27 of the large diameter sphere 26 provided at the lower end of the operation lever 25. The large sphere 26 is
It is stored in the adjusting ring 29 by the presser ring 28 so that it cannot be pulled out and can be freely rotated. The adjustment ring 29 is screwed into the screw hole 31 of the case 30, and the adjustment ring is attached to the case 30.
If you turn 29, the ball center of the large-diameter sphere 26, that is, the operating lever 25
The fulcrum of tilting of the ball moves up and down with respect to the ball center of the small diameter sphere 24, and the distance between the ball center of the large diameter sphere 26 and the ball center of the small diameter sphere 24 changes. The sliding amount of the X-axis slider 9 to the Y-axis slider 8 changes with respect to the tilting amount of the X-axis slider 23, and thus the X-axis hydraulic cylinder 23 to the Y-axis hydraulic cylinder.
It can be adjusted to change the amount of pressure applied to 15. A Z-axis hydraulic cylinder 32 is installed in the operating lever 25, and a piston 33 for pressurizing the Z-axis hydraulic cylinder 32 is provided.
It has the Z-axis drive mechanism 3 including a knob 33a for pressing the piston 33. The Y-axis hydraulic cylinder 15, X
The axial hydraulic cylinder 22 and the Z axial hydraulic cylinder 32 are connected to corresponding Y axial hydraulic cylinders, X axial hydraulic cylinders, and Z axial hydraulic cylinders of the moving portion 37 described later by pressure resistant tubes 34 to 36, respectively. , And paraffinic oil or water is sealed inside. The Y-axis hydraulic cylinder 15, the X-axis hydraulic cylinder 22 and the Z-axis hydraulic cylinder 32 have the same structure as shown in FIG. That is, it has a cylinder body 39 having a fluid pressure chamber 38 inside, a diaphragm 40 is attached to the opening end of the fluid pressure chamber 38, and the diaphragm 40 is clamped by the holding ring 41 and the cylinder body 39, and then stopped. By screwing the ring 42 to the cylinder body 39, the pressing ring 41, the cylinder body 39, and the diaphragm 40 are fixed.
The pressure resistant tubes 34 to 36 are connected to the cylinder body 39 so as to communicate with the inside of the hydraulic chamber 38.
The pistons 13, 20, 33 are brought into contact with the diaphragm 40 in a freely pressable manner.

As shown in FIG. 4, the moving unit 37 is composed of an X-axis moving mechanism 43, a Y-axis moving mechanism 44, and a Z-axis moving mechanism 45. The X-axis moving mechanism 43, the Y-axis moving mechanism 44, and the Z-axis moving mechanism 45 are formed in the same structure, and if one of them is explained with reference to FIG. 5, 46 is a base. The base 46 is
It is formed in a long plate shape and has a fitting groove 47 on one surface side, and a slider 49 is slidably mounted with the linear motion bearing 48 interposed in the fitting groove 47. A base plate at one end of the base 46
Screw 50 on. The support plate 50 has a spring holding rod.
The base end of 51 is fixed. A hydraulic cylinder 53 is attached to the other end of the base 46 with a bracket 52 fixed by screws interposed. The hydraulic cylinder 53 holds a substantially dish-shaped cylinder main body 55 having a hydraulic pressure chamber 54, a diaphragm 56 attached to an opening end of the hydraulic pressure chamber 54, and the diaphragm 56 between the cylinder main body 55. The pressing ring 57 includes a cylinder body 55, a diaphragm 56, and a retaining ring 58 screwed to the pressing ring 57 to fix the pressing ring 57 to each other. The pressing ring 57 is fixed to the bracket 52 with a screw 59. The cylinder body 55 has a connection port 60
Each of the pressure resistant tubes 34 to 36 is attached by screwing a connection fitting 61 into the connection port 60.
Further, the hydraulic chamber 54 of the cylinder body 55 has a piston 62 which will be described later.
The cross-sectional area in the direction orthogonal to the reciprocating direction is the Y-axis hydraulic cylinder 15, X-axis hydraulic cylinder 22, and Z of the drive unit 1.
It is formed 10 times wider than that of each hydraulic chamber 38 of the axial hydraulic cylinder 32. The depth of the hydraulic chamber 54 in the direction in which the piston 62 reciprocates is formed to be shallow so as to correspond to the stroke length of the piston 62 in order to reduce the amount of oil or water enclosed inside as much as possible. Piston abutting diaphragm 56
62 is fixed to one end of the slider 49. The slider 49 has a spring insertion hole 63 extending from the other end into the piston 62,
A spring 64 is inserted into the spring insertion hole 63, and the spring 64 is interposed between the receiving plate 50 and the slider 49.
The spring 64 has a coil shape, and the spring holding rod 51 is inserted in the spring 64 so that the spring 64 does not inadvertently bend in the gap between the receiving plate 50 and the slider 49. In FIG. 5, 65 is a dovetail groove.

Then, as shown in FIG. 4, the base of the Z-axis moving mechanism 45.
A mounting bracket 66 is dovetailed to the 46 using the dovetail groove 65, and a rod 67 such as a stand is fitted and fixed to the mounting bracket 66. That is, in the Z-axis moving mechanism 45, the slider 49 is attached to the rod 67 slidably in the Z-axis direction (height direction) with respect to the base 46. The slider 49 of the Z-axis moving mechanism 45 has
The base 46 of the Y-axis moving mechanism 44 is fixedly installed. That is, the Y-axis moving mechanism 44 is attached to the Z-axis moving mechanism 45 so that the slider 49 can slide on the base 46 in the Y-axis direction (longitudinal direction). Y
The slider 49 of the X-axis movement mechanism 43 is fixed to the slider 49 of the axis movement mechanism 44. In other words, the X-axis moving mechanism 43 has a base 46.
On the other hand, the slider 49 is attached to the X-axis moving mechanism 44 slidably in the X-axis direction (lateral direction). X-axis movement mechanism
A mounting bracket 68 is dovetailed to the base 46 of 44 using a dovetail groove 65, and a glass electrode or the like is attached to the mounting bracket 68 via a holder 69.
Attach 70 pipettes. The other end of the pressure resistant tube 36 is connected to the connection port 60 of the hydraulic cylinder 53 of the Z-axis moving mechanism 45, and the other end of the pressure resistant tube 34 is connected to the connection port 60 of the hydraulic cylinder 53 of the Y-axis moving mechanism 44. The ends are connected and the X-axis moving mechanism 43
The other end of the pressure resistant tube 35 is connected to the connection port 60 of the hydraulic cylinder 53.

The X-axis moving mechanism 43, the Y-axis moving mechanism 44, and the Z-axis moving mechanism 4 described above.
The assembling between the 5 is not limited to the above, and recombination can be appropriately performed depending on the use conditions.

Then, the operation lever 25 of the drive unit 1 is tilted, or the knob 12 of the Y-axis linear drive mechanism 5 or the X-axis linear drive mechanism 4 is moved.
If the knob 19 or the knob 33a of the Z-axis linear drive mechanism 3 is turned, the Y-axis hydraulic cylinder 15, the X-axis hydraulic cylinder 22, and the Z-axis hydraulic cylinder 32 are pressurized in response to this, and X-axis moving mechanism 43, Y-axis moving mechanism 44, through pressure resistant tubes 34 to 36,
And transmitted to each hydraulic cylinder 53 of the Z-axis moving mechanism 45,
The diaphragms 56 press the pistons 62, respectively, whereby the glass electrodes 70 are freely moved in the X-axis direction, the Y-axis direction, and the Z-axis direction. At this time, each hydraulic cylinder of the moving part 37
As described above, the hydraulic chamber 54 of 53 has a sectional area ten times larger than that of the hydraulic chambers 38 of the hydraulic cylinders 15, 22, 32 of the drive unit 1, so that the drive unit 1 The moving amount of the moving part 37 is 1/10 of the operation amount, so that the cross-sectional area between the hydraulic chamber of the hydraulic cylinder of the drive part and the hydraulic chamber of the hydraulic cylinder of the moving part is the same as the conventional type. Compared to the one having a ratio of 1: 1, the scale for instructing the operation amount of the drive unit 37 can be finely scaled by 10 times, and further, the positioning can be performed with high precision by 10 times. Even if there is an operation spot on the side, the moving unit 37 can move smoothly. Moreover, even if the ambient temperature changes and the rate of thermal expansion of the enclosed liquid changes, the amount of movement of the moving part 37, that is, the drift, is drastically reduced to one-tenth due to the change, and the enclosed liquid contains paraffin system. If water is used in place of the oil, the coefficient of thermal expansion of water is about one-tenth that of paraffin-based oil, so the drift due to thermal expansion due to changes in the ambient temperature of the moving part 37 is further reduced by 10%. It can be reduced by a factor of about 1, and therefore the drift can be reduced by a factor of 100 compared to the conventional type.

“Effect of device” As described below, the manipulator for glass electrodes and the like according to the present invention can drastically reduce so-called drift such that the glass electrodes and the like are inadvertently moved due to changes in ambient temperature, and compared with the conventional one. The scale for instructing the operation amount of the drive unit can be further finely scaled according to the ratio of the cross-sectional area of the hydraulic cylinder of the moving unit and the hydraulic cylinder of the drive unit, which leads to highly accurate glass electrode. And the like can be moved and positioned, and the movement of the moving part is extremely smooth even if the operation of the drive part is uneven, which is convenient for use.

[Brief description of drawings]

FIG. 1 is a block diagram of a conventional drive unit used in the present invention, FIG. 2 is a perspective view of an essential part of the drive unit shown in FIG. 1, and FIG. 3 is a drive unit shown in FIG. Fig. 4 is a sectional view of the hydraulic cylinder in Fig. 4, Fig. 4 is a perspective view of the moving part of the present invention, and Fig. 5 is
It is sectional drawing which shows the structure of each moving mechanism of a moving part. 1 ... Driving unit 2 ... X-Y axis in-plane driving mechanism 3 ... Z-axis driving mechanism 4 ... X-axis linear driving mechanism 5 ... Y-axis linear driving mechanism 15 ... Y-axis hydraulic cylinder 22 ... … X-axis hydraulic cylinder 25 …… Operating lever, 32 …… Z-axis hydraulic cylinder 37 …… Moving part, 38 …… Hydraulic chamber 43 …… X-axis moving mechanism, 44 …… Y-axis moving mechanism 45 …… Z-axis moving mechanism, 53 ... hydraulic cylinder 54 ... hydraulic chamber, 70 ... glass electrode, etc.

Claims (1)

[Scope of utility model registration request] 1. A movement provided with a drive unit on a remote operation side having a hydraulic cylinder provided with a diaphragm pressed by a piston, and a hydraulic cylinder connected to the hydraulic cylinder in the drive unit by a tube. A manipulator such as a glass electrode that interlocks a glass electrode with a piston that is pressed by the diaphragm of the moving part due to the pressure change in the hydraulic cylinder of the driving part. A slider connected to the base through a linear motion bearing, a piston connected to the tip of the slider, and a piston pressable to the piston. A manipulator for glass electrodes, etc., characterized in that the hydraulic cylinder of the moving part is formed with a larger cross-sectional area than the hydraulic cylinder of the driving part. Data.